Target changing system and control method thereof

Abstract

The invention discloses a target changing system and a control method, the target changing system is used for changing a target piece of a neutron target, and the target changing system comprises a three-coordinate mobile platform, a mechanical arm, an image acquisition device and a background processing terminal; a dismounting mechanism is mounted on the three-coordinate moving platform; a transfer assembly is arranged on the disassembly and assembly mechanism, the transfer assembly can be in adsorption connection with the target sheet, and an alignment piece is arranged on the disassembly and assembly mechanism and used for being aligned with a target position on the target sheet; an image acquisition device is also arranged on the dismounting mechanism and is used for acquiring an alignment piece image and transmitting the alignment piece image to a background processing terminal; the background processing terminal is used for processing according to the alignment piece image acquired by the image acquisition device to obtain a relative position deviation value between the alignment piece and a target position on the target piece, and further controlling the moving action of the three-coordinate moving platform and the dismounting action of the dismounting mechanism; the mechanical arm is arranged on the side of the three-coordinate moving platform and used for providing a new target piece for the disassembling and assembling mechanism or transferring an old target piece disassembled by the disassembling and assembling mechanism to a transfer final position.

Description

Technical Field

[0001] The present invention relates to the technical field of neutron targets, and in particular to a target changing system and a control method thereof. Background Art

[0002] The target system is the core component of the ultra-high-intensity deuterium-tritium fusion neutron source. Its main function is to withstand the bombardment of high-power deuterium ion beams and produce neutrons through deuterium-tritium fusion reactions. After the deuterium beam bombards the tritium target, the target in the target system will still have radioactive radiation risks. If it is replaced manually, it will increase the risk of human radiation.

[0003] There is a need for a system that can automatically replace the target piece, so as to avoid manual replacement of the contact target piece and improve the target replacement efficiency.

[0004] Since the target structure is relatively thin and the internal structure is often integrated with cooling water channels, the structure is relatively delicate, especially for disc-shaped targets or rotating targets with larger target areas. The target replacement system in the prior art is not suitable for disc-shaped targets with larger target areas, and a rigid clamping structure is often used, which can easily cause structural damage to the target, resulting in breakage or falling fragments, which may fill the entire environment with radioactive substances. When operators are required to repair and maintain the entire device, there will be radioactive hazards to the operators.

[0005] Moreover, the target piece replacement system in the prior art often replaces the entire target system, while the target chamber of the disc-shaped target piece has a relatively small space, and the target piece replacement system in the prior art is difficult to use.

[0006] So when inventing a replacement system for disc-shaped target pieces, it is more important to be able to accurately remove and install the target pieces to improve replacement efficiency and prevent them from falling. Summary of the invention

[0007] The object of the present invention is to provide a target changing system and a control method thereof, so as to solve the technical problem that the target piece changing system in the prior art is difficult to apply to the replacement of disc-shaped target pieces or rotating target pieces.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] On the one hand, a target replacement system is provided for replacing a target piece of a neutron target, comprising a three-coordinate mobile platform, a mechanical arm, an image acquisition device and a background processing terminal;

[0010] The three-coordinate mobile platform is equipped with a disassembly and assembly mechanism, and the three-coordinate mobile platform is used to drive the disassembly and assembly mechanism to move;

[0011] The disassembly and assembly mechanism is further provided with a transfer component, which can be adsorbed and connected with the target sheet, and the disassembly and assembly mechanism is provided with an alignment member, which is used to align with the target position on the target sheet when disassembling and assembling the target sheet, so as to reduce the position deviation of the target sheet when disassembling and assembling;

[0012] The disassembly and assembly mechanism is also provided with an image acquisition device, which is used to acquire an image of the alignment member and transmit it to a background processing terminal; the background processing terminal is used to process the image of the alignment member acquired by the image acquisition device, obtain a relative position deviation value between the alignment member and the target position on the target sheet, and then control the movement of the three-coordinate mobile platform and the disassembly and assembly of the disassembly and assembly mechanism;

[0013] The mechanical arm is arranged beside the three-coordinate moving platform, and is used to provide a new target piece for the disassembly and assembly mechanism or to transfer the old target piece disassembled by the disassembly and assembly mechanism to the transport terminal position.

[0014] Through the coordination between various mechanical systems, this solution can realize automatic replacement of the target piece, reduce the radiation risk of waste targets, and avoid direct contact between the experimenter and the bombarded target piece, thereby improving the safety during the operation. In addition, during the replacement of the target piece, the transport component uses an adsorption connection to transport the target piece, which can solve the technical problem that the target piece replacement system in the prior art is difficult to apply to the replacement of disc-shaped targets or rotating targets. On this basis, an image recognition-assisted alignment method is also used to ensure the mechanical alignment of the alignment parts, so as to ensure the position accuracy during the target piece replacement process and improve the target replacement efficiency.

[0015] Preferably, the disassembly and assembly mechanism is used to disassemble and assemble a rotating target, and the rotating target is used to be installed on a rotating shaft;

[0016] The alignment member is a central axis, and the central axis is arranged corresponding to the rotation axis. The central axis has the same cross-sectional diameter as the rotation axis. When the rotating target is disassembled, the end of the central axis can abut against the end opposite to the rotation axis, and the center line of the central axis coincides with the center line of the rotation axis.

[0017] The disassembly and assembly mechanism is further provided with a transfer assembly, which can be adsorbed and connected to the target piece, and when the end of the central axis abuts against the end opposite to the rotating axis, the transfer assembly can drive the rotating target piece and the pressure cover to move on the central axis and the rotating axis;

[0018] The image acquisition device is installed on the transfer component at a position close to the end of the central axis. When the end of the central axis abuts against the end opposite to the rotating axis, the image acquisition device can capture the image of the abutment between the central axis and the end of the rotating axis and transmit it to the background processing terminal, which determines whether the central axis is aligned with the rotating axis.

[0019] This solution can realize automatic replacement of rotating targets, solve the risk of tritium leakage caused by manual replacement of target pieces, and the possibility of errors and failures caused by manual operation. Compared with manual replacement, it reduces the risk of tritium leakage (waste target radiation) and improves safety.

[0020] In addition, in the present scheme, when disassembling and assembling the target piece, an image acquisition device is used to collect an image of the end of the central axis and an image of the contact between the central axis and the end of the rotating axis and transmit it to the background processing terminal for processing, so as to obtain a conclusion on whether the alignment is achieved. The background processing terminal controls the three-coordinate moving platform to drive the disassembly and assembly mechanism to move in the direction in which the center line of the central axis coincides with the center line of the rotating axis to achieve alignment. The principle of concentric axes is used to realize the "axis-to-axis" disassembly and assembly of the rotating target, and it is moved to the central axis or the rotating axis accordingly. At the structural level, the accuracy of the target piece installation position can be improved, the disassembly and assembly efficiency can be improved, the technical problem of position deviation of the rotating target during installation is solved, and the technical problem of falling of the rotating target during disassembly and assembly is solved.

[0021] As one implementation mode of the background processing terminal for processing and controlling the moving action of the three-coordinate mobile platform and the disassembly and assembly action of the disassembly and assembly mechanism according to the alignment part image acquired by the image acquisition device, the image acquisition device includes a first camera and a second camera, and the image acquisition ends of the first camera and the second camera are respectively perpendicular to the end positions of the central axis;

[0022] The first camera and the second camera are arranged on the same plane, and the center lines of the shooting angles of view of the first camera and the second camera are perpendicular to each other on the same plane;

[0023] The first camera or the second camera can capture a vertical image or a horizontal longitudinal image when the end of the central axis abuts against the end opposite to the rotation axis, and transmit it to a background processing terminal for processing to obtain a relative position deviation value.

[0024] Specifically, the above scheme is explained by giving an example. In this embodiment, the first camera is used to capture the vertical image when the central axis is in contact with the end of the rotation axis. When the background processing terminal determines that the central axis is aligned with the end of the rotation axis, it indicates that there is no deviation between the central axis in the vertical direction; the second camera is used to capture the horizontal image when the central axis is in contact with the end of the rotation axis. When the background processing terminal determines that the central axis is aligned with the end of the rotation axis, it indicates that there is no deviation between the central axis in the horizontal and longitudinal direction.

[0025] As a further optimization scheme of the transfer component and the robotic arm, the transfer component includes a plurality of evenly distributed first vacuum suction cup devices, each of which can be extended and retracted in a direction parallel to the extension direction of the central axis; the first vacuum suction cup device includes a first flexible suction cup, and the first flexible suction cup is used to adsorb on one side surface of the rotating target; each of the first flexible suction cups is respectively connected to one end of a first vacuum tube, and the other end of each of the first vacuum tubes is respectively connected to a first vacuum pumping device;

[0026] Correspondingly, the disassembly and assembly mechanism is further provided with a third control module for receiving instructions sent by the background processing terminal and controlling the start and stop of each of the first vacuum pumping devices;

[0027] A plurality of second vacuum suction cup devices are provided at the end of the robot arm, and the second vacuum suction cup devices include second flexible suction cups, and the second flexible suction cups are used to be adsorbed on the other side surface of the rotating target; each of the second flexible suction cups is respectively connected to one end of a second vacuum tube, and the other end of each of the second vacuum tubes is respectively connected to a second vacuum pumping device;

[0028] Correspondingly, a fourth control module is also provided at the end of the mechanical arm, which is used to receive instructions sent by the background processing terminal and control the start and stop of each of the second vacuum pumping devices;

[0029] A third camera is also provided at the center of the end surface of the robotic arm, and the third camera is used to collect the end surface image of the central axis and transmit it to the background processing terminal to identify the center point position of the central axis.

[0030] During the target replacement process, multiple first vacuum suction cup devices are used to load or move the target piece, which solves the technical problem of structural damage that may be caused by the clamping method used in the prior art due to the thin and fragile structure of the annular target piece.

[0031] When the rotating target needs to be moved, first extend each first vacuum suction cup device, and ensure that each first flexible suction cup is in contact with the rotating target, open the first vacuum pumping device, so that the inside of the first flexible suction cup and the part in contact with the rotating target are in a vacuum state, thereby achieving adsorption of one side surface of the rotating target, and then when the transfer component moves, it can drive the rotating target to move; then, the third camera captures the end face image of the central axis and identifies the center point of the central axis, the background processing terminal controls the end of the robot arm to align with the transfer component, and moves the end of the robot arm to the other side surface of the rotating target, and adsorbs the rotating target through each second vacuum suction cup device, and transfers it to the transfer terminal position.

[0032] As one of the implementations of the three-coordinate mobile platform, the three-coordinate mobile platform includes a horizontal transverse moving mechanism, a horizontal longitudinal moving mechanism and a vertical moving mechanism; the horizontal longitudinal moving mechanism is installed on the horizontal transverse moving mechanism, and the horizontal transverse moving mechanism can drive the horizontal longitudinal moving mechanism to move horizontally; the vertical moving mechanism is installed on the horizontal longitudinal moving mechanism, and the horizontal longitudinal moving mechanism can drive the vertical moving mechanism to move horizontally and longitudinally; the disassembly and assembly mechanism is installed on the vertical moving mechanism, and the vertical moving mechanism can drive the disassembly and assembly mechanism to move vertically;

[0033] The background processing terminal can control the horizontal lateral movement mechanism, the horizontal longitudinal movement mechanism and the vertical movement mechanism to move respectively according to the relative position deviation value when the end of the central axis abuts against the end opposite to the rotating axis, so as to align the end of the central axis with the end opposite to the rotating axis.

[0034] As a further optimization solution of the three-coordinate mobile platform, the horizontal lateral moving mechanism is provided with a first screw rod, one end of which is fixedly connected to the rotation output end of the first motor, and the bottom of the horizontal longitudinal moving mechanism is provided with a first slide groove, and the inner wall of the first slide groove is provided with an internal thread that cooperates with the first screw rod;

[0035] The horizontal longitudinal moving mechanism is provided with a second screw rod, one end of which is fixedly connected to the rotation output end of the second motor, and the bottom of the vertical moving mechanism is provided with a second slide groove, and the inner wall of the second slide groove is provided with an internal thread matched with the second screw rod;

[0036] The vertical moving mechanism is provided with a third screw rod, one end of which is fixedly connected to the rotation output end of the third motor, and the disassembly and assembly mechanism is provided with a third slide groove on one side facing the vertical moving mechanism, and the inner wall of the third slide groove is provided with an internal thread matched with the third screw rod;

[0037] The first motor, the second motor and the third motor are respectively provided with a first control module, a second control module and a third control module; the first control module, the second control module and the third control module are used to respectively receive instructions sent by the background processing terminal, and respectively control the first motor, the second motor and the third motor to rotate forward or reverse;

[0038] Specifically, the first control module, the second control module, and the third control module are used to respectively receive the installation instructions and the disassembly instructions sent by the background processing terminal, wherein the installation instructions refer to that the background processing terminal sends the forward rotation instructions and the running time to the first motor, the second motor, and the third motor respectively, so as to drive the three-coordinate mobile platform to transport the disassembly mechanism to the installation terminal position; the disassembly instructions refer to that the background processing terminal sends the forward rotation instructions and the running time to the first motor, the second motor, and the third motor respectively, so as to drive the three-coordinate mobile platform to transport the disassembly mechanism to the installation terminal position;

[0039] As a way to realize the extension and retraction of each first vacuum suction cup device, the disassembly and assembly mechanism is installed on the vertical moving mechanism through a mounting bracket, a first bracket disc and a second bracket disc are fixed on the mounting bracket, each first vacuum suction cup device is installed on the first bracket disc, a plurality of screw rods are fixed between the first bracket disc and the second bracket disc corresponding to each first vacuum suction cup device, a screw rod slider is respectively provided at one end of each first vacuum suction cup device extending out of the first bracket disc, each screw rod slider is respectively threadedly connected with a corresponding screw rod, a screw rod motor is fixed at one end of each screw rod extending out of the second bracket disc, each screw rod motor can rotate forward or reverse at the same time, and can drive each screw rod slider to move on the corresponding screw rod;

[0040] Correspondingly, the disassembly and assembly mechanism is further provided with a fifth control module for receiving instructions sent by the background processing terminal and controlling each lead screw motor to rotate forward or reverse simultaneously.

[0041] During forward rotation, the screw slider can move along the corresponding screw in a direction away from the screw motor to extend the first vacuum suction cup device. During reverse rotation, the screw slider can move along the corresponding screw in a direction close to the screw motor to retract the first vacuum suction cup device.

[0042] As one specific structure of the mechanical arm, the mechanical arm further includes a slide rail, a turntable is slidably connected to the slide rail, the turntable is rotatable, one end of the upper arm is mounted on the turntable, the other end of the upper arm is rotatably connected to one end of the lower arm, the other end of the lower arm is mounted with a suction cup fixing frame via a rotating joint, and each of the second vacuum suction cup devices is mounted on the suction cup fixing frame;

[0043] Correspondingly, the robotic arm is also provided with a sixth control module for receiving instructions sent by the background processing terminal and controlling the rotation of the turntable, the upper arm and the lower arm.

[0044] On the other hand, a control method of a target changing system is also provided, which is used to control the target changing system as described above to replace the target sheet, and comprises the following steps:

[0045] S1. Establish an XYZ coordinate system, set the initial positions of the three-coordinate mobile platform and the robotic arm, and record the coordinate values ​​of the corresponding initial positions;

[0046] S2, manually operate the mobile three-coordinate mobile platform, and record the coordinate values ​​of the installation end position and the unloading end position of the three-coordinate mobile platform in the background processing terminal; manually operate the mobile mechanical arm, and record the coordinate values ​​of the transfer starting position and the transfer end position of the mechanical arm in the background processing terminal;

[0047] S3, respectively acquiring a first standard image, a second standard image, and a third standard image corresponding to the first camera, the second camera, and the third camera, and transmitting and storing them in a background processing terminal;

[0048] S4. When disassembling the old rotating target, the background processing terminal sends disassembly instructions to the three-coordinate mobile platform and the robotic arm in sequence. The three-coordinate mobile platform drives the disassembly mechanism to move and move the old rotating target into the disassembly mechanism. Then the robotic arm takes over the old rotating target and transfers the old rotating target to the transfer starting position to complete the disassembly.

[0049] S5. When installing a new rotating target, the background processing terminal sends installation instructions to the robot arm and the three-coordinate mobile platform in turn. The robot arm moves the new rotating target in the opposite direction of the transportation path of the old rotating target in step S4, and transports the new rotating target to the central axis of the disassembly and assembly mechanism; then the three-coordinate mobile platform moves to the installation end position, releases the new rotating target, and resets to the initial position. At this time, the new rotating target is located at the target position, and the installation of the new rotating target is completed.

[0050] Preferably, in step S4, disassembling the old rotating target specifically comprises the following steps:

[0051] S4.1. The background processing terminal controls the three-coordinate mobile platform to move to the installation end position according to the coordinate value of the installation end position of the three-coordinate mobile platform;

[0052] S4.2, controlling the first camera and the second camera to acquire a first image and a second image respectively;

[0053] S4.3, processing the first image and the second image respectively, and comparing the processed images with the first standard image and the second standard image respectively, and calculating the position deviation values ​​in the Y direction and the Z direction respectively;

[0054] S4.4, when the calculated position deviation values ​​in the Y direction and the Z direction are less than or equal to 2mm, jump to step S4.5; if the calculated position deviation values ​​in the Y direction and the Z direction are greater than 2mm, control the three-coordinate mobile platform to move in the corresponding direction according to the position deviation value to perform position compensation, and repeat steps S4.2 and S4.3;

[0055] S4.5, the background processing terminal sends a disassembly execution instruction to the disassembly mechanism, and the disassembly mechanism transfers the old rotating target to the central axis;

[0056] S4.6, the background processing terminal controls the three-coordinate mobile platform to move to the unloading terminal position according to the coordinate value of the unloading terminal position of the three-coordinate mobile platform, and then the background processing terminal controls the mechanical arm to transfer to the transfer terminal position according to the coordinate value of the transfer terminal position of the mechanical arm, and controls the third camera to capture the third image;

[0057] S4.7, performing similarity analysis between the third image and the third standard image;

[0058] S4.8, if the similarity between the third image and the third standard image is greater than or equal to 80%, jump to step S4.9;

[0059] If the similarity between the third image and the third standard image is less than 80%, the real-time image of the third camera is retrieved and manually adjusted;

[0060] S4.9. Send a transfer instruction to the robotic arm, and the robotic arm starts to transfer the old rotating target to the transfer starting point, completing the disassembly of the old rotating target.

[0061] The present invention has the following beneficial effects:

[0062] The target changing system of the present invention can realize automatic replacement of the target piece through the cooperation between various mechanical systems, thereby reducing the radiation risk of waste targets, and at the same time avoiding direct contact between the experimenter and the bombarded target piece, thereby improving the safety during the operation. In addition, during the replacement of the target piece, the transport component uses an adsorption connection to transport the target piece, which can solve the technical problem that the target piece replacement system in the prior art is difficult to apply to the replacement of disc-shaped target pieces or rotating target pieces. On this basis, an image recognition auxiliary alignment method is also used to ensure the mechanical alignment of the alignment piece, so as to ensure the position accuracy during the target piece replacement process and improve the target replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to make the purpose, technical solution and advantages of the invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0064] Figure 1 This is a schematic diagram of the overall structure of the target changing system of Example 1 of the present invention.

[0065] Figure 2 for Figure 1 Enlarged view of area A in the middle.

[0066] Figure 3 It is a side view of the partial structure of the disassembly and assembly mechanism of Example 1 of the present invention.

[0067] Figure 4 for Figure 1 Enlarged view of area B.

[0068] Figure 5 This is a schematic diagram of the structure of a three-coordinate mobile platform according to Embodiment 2 of the present invention.

[0069] Description of reference numerals: 101, rotating target; 103, rotating axis; 200, disassembly and assembly mechanism; 201, central axis; 202, mounting bracket; 203, first bracket plate; 204, second bracket plate; 205, screw rod; 206, screw rod slider; 207, first vacuum suction cup device; 208, first flexible suction cup; 209, first camera; 210, second camera; 300, three-coordinate mobile platform; 301, vertical moving mechanism; 302, horizontal Transverse moving mechanism; 303, horizontal and longitudinal moving mechanism; 304, first motor; 305, second motor; 306, third motor; 400, robotic arm; 401, slide rail; 402, turntable; 403, upper arm; 404, lower arm; 405, rotary joint; 406, suction cup fixing frame; 407, second vacuum suction cup device; 408, second flexible suction cup; 409, third camera; 500, background processing terminal; 600, image acquisition device. DETAILED DESCRIPTION

[0070] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0071] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] The present invention can be applied to the technical field of neutron targets, and solves the technical problem that the target piece replacement system in the prior art is difficult to be applied to the replacement of disc-shaped target pieces or rotating target pieces.

[0073] Example 1, please refer to Figures 1 to 4 , this embodiment provides a target replacement system for replacing a rotating neutron target, including a three-coordinate mobile platform 300, a mechanical arm 400, an image acquisition device and a background processing terminal 500;

[0074] The three-coordinate mobile platform 300 is equipped with a disassembly and assembly mechanism 200, and the three-coordinate mobile platform 300 is used to drive the disassembly and assembly mechanism 200 to move;

[0075] The disassembly and assembly mechanism 200 is also provided with a transfer component, which can be adsorbed and connected with the target sheet. The disassembly and assembly mechanism 200 has an alignment member, which is used to align with the target position on the target sheet when disassembling and assembling the target sheet, so as to reduce the position deviation of the target sheet when disassembling and assembling;

[0076] The assembly and disassembly mechanism 200 is also provided with an image acquisition device, which is used to acquire an image of the alignment member and transmit it to the background processing terminal 500; the background processing terminal 500 is used to process the alignment member image acquired by the image acquisition device, obtain the relative position deviation value between the alignment member and the target position on the target sheet, and then control the movement action of the three-coordinate mobile platform 300 and the assembly and disassembly action of the assembly and disassembly mechanism 200;

[0077] See also Figure 1 The robot arm 400 is disposed beside the three-coordinate mobile platform 300 and is used to provide a new target piece for the disassembly and assembly mechanism 200 or to transfer the old target piece disassembled by the disassembly and assembly mechanism 200 to the transfer terminal position.

[0078] The disassembly mechanism 200 is used to disassemble the rotating target 101, and the rotating target 101 is used to be installed on the rotating shaft 103;

[0079] The alignment member is a central axis 201, and the central axis 201 is arranged corresponding to the rotating axis 103. The cross-sectional diameter of the central axis 201 is the same as that of the rotating axis 103. When the rotating target 101 is disassembled, the end of the central axis 201 can abut against the end opposite to the rotating axis 103, and the center line of the central axis 201 coincides with the center line of the rotating axis 103.

[0080] See also Figure 2 and Figure 3 The disassembly and assembly mechanism 200 is also provided with a transfer assembly, which can be adsorbed and connected with the rotating target 101. When the end of the central shaft 201 abuts against the end opposite to the rotating shaft 103, the transfer assembly can drive the rotating target 101 and the gland to move on the central shaft 201 and the rotating shaft 103;

[0081] The image acquisition device is installed on the transfer component at a position close to the end of the central axis 201. When the end of the central axis 201 abuts against the end opposite to the rotating axis 103, the image acquisition device can capture the image of the abutment between the central axis 201 and the end of the rotating axis 103 and transmit it to the background processing terminal 500, which determines whether the central axis 201 is aligned with the rotating axis 103.

[0082] The image acquisition device includes a first camera 209 and a second camera 210, and the image acquisition ends of the first camera 209 and the second camera 210 are respectively perpendicular to the end positions of the central axis 201;

[0083] The first camera 209 and the second camera 210 are arranged on the same plane, and the center lines of the shooting angles of the first camera 209 and the second camera 210 are perpendicular to each other on the same plane;

[0084] The first camera 209 or the second camera 210 can capture a vertical image or a horizontal longitudinal image when the end of the central axis 201 abuts against the end opposite to the rotating axis 103, and transmit it to the background processing terminal 500 for processing to obtain a relative position deviation value.

[0085] Specifically, the above scheme is explained by taking an example. In this embodiment, please refer to Figure 2 and Figure 3 The first camera 209 is used to collect vertical images when the central axis 201 is in contact with the end of the rotation axis 103. When the background processing terminal 500 determines that the central axis 201 is aligned with the end of the rotation axis 103, it indicates that there is no vertical deviation between the rotation axis 103 and the central axis 201; the second camera 210 is used to collect horizontal images when the central axis 201 is in contact with the end of the rotation axis 103. When the background processing terminal 500 determines that the central axis 201 is aligned with the end of the rotation axis 103, it indicates that there is no horizontal deviation between the rotation axis 103 and the central axis 201.

[0086] The method for judging whether the alignment is achieved is a binary method. First, the acquired image is binarized, and then the contour lines at the upper and lower positions of the image are extracted to determine whether the contour lines are straight lines. If they are straight lines, alignment is determined. Otherwise, the deviation value is output.

[0087] See also Figure 2 and Figure 3 The transfer assembly includes a plurality of evenly distributed first vacuum suction cup devices 207, each of which can be extended and retracted in a direction parallel to the extension direction of the central axis 201; the first vacuum suction cup device 207 includes a first flexible suction cup 208, and the first flexible suction cup 208 is used to be adsorbed on one side surface of the rotating target 101; each of the first flexible suction cups 208 is respectively connected to one end of a first vacuum tube, and the other end of each of the first vacuum tubes is respectively connected to a first vacuum pumping device;

[0088] Correspondingly, the disassembly and assembly mechanism 200 is further provided with a third control module for receiving instructions sent by the background processing terminal 500 and controlling the start and stop of each of the first vacuuming devices;

[0089] See also Figure 1 and Figure 4The end of the robot arm 400 is provided with a plurality of second vacuum suction cup devices 407, and the second vacuum suction cup device 407 includes a second flexible suction cup 408, and the second flexible suction cup 408 is used to be adsorbed on the other side surface of the rotating target 101; each of the second flexible suction cups 408 is respectively connected to one end of a second vacuum tube, and the other end of each of the second vacuum tubes is respectively connected to a second vacuum pumping device;

[0090] Correspondingly, a fourth control module is also provided at the end of the robot arm 400, for receiving instructions sent by the background processing terminal 500, and controlling the start and stop of each of the second vacuum pumping devices;

[0091] See also Figure 1 and Figure 4 A third camera 409 is also provided at the center of the end surface of the robotic arm 400 . The third camera 409 is used to collect the end surface image of the central axis 201 and transmit it to the background processing terminal 500 to identify the center point of the central axis 201 .

[0092] During the target replacement process, multiple first vacuum suction cup devices 207 are used to load or move the target piece, which solves the technical problem of structural damage that may be caused by the clamping method used in the prior art due to the thin and fragile structure of the annular target piece.

[0093] When the rotating target 101 needs to be moved, first extend each first vacuum suction cup device 207, and ensure that each first flexible suction cup 208 is in contact with the rotating target 101, open the first vacuum device, so that the inside of the first flexible suction cup 208 and the part in contact with the rotating target 101 are in a vacuum state, thereby achieving adsorption of one side surface of the rotating target 101, and then when the transfer component moves, it can drive the rotating target 101 to move; then, the third camera 409 collects the end face image of the central axis 201 and identifies the center point of the central axis 201, and the background processing terminal 500 controls the end of the robot arm 400 to align with the transfer component, and moves the end of the robot arm 400 to the other side surface of the rotating target 101, and the rotating target 101 is adsorbed by each second vacuum suction cup device 407 and transferred to the transfer terminal position.

[0094] As one of the specific embodiments, the first camera 209, the second camera 210 and the third camera 409 are all CCD cameras. Of course, other cameras that can capture images and transmit the captured images to the background processing terminal 500 can be used in the above solution.

[0095] The target changing system of this embodiment replaces the target piece by the following control method, including the following steps:

[0096] S1. Establish an XYZ coordinate system, set the initial positions of the three-coordinate mobile platform 300 and the robotic arm 400, and record the coordinate values ​​of the corresponding initial positions;

[0097] S2, manually operate the mobile three-coordinate platform 300, and record the coordinate values ​​of the installation end position and the unloading end position of the mobile three-coordinate platform 300 in the background processing terminal 500; manually operate the mobile mechanical arm 400, and record the coordinate values ​​of the transfer starting position and the transfer end position of the mechanical arm 400 in the background processing terminal 500;

[0098] S3, respectively acquiring the first standard image, the second standard image and the third standard image corresponding to the first camera 209, the second camera 210 and the third camera 409, and transmitting and storing them in the background processing terminal 500;

[0099] S4, when disassembling the old rotating target 101, the background processing terminal 500 sends disassembly instructions to the three-coordinate mobile platform 300 and the robot arm 400 in turn, the three-coordinate mobile platform 300 drives the disassembly mechanism 200 to move and move the old rotating target 101 into the disassembly mechanism 200, and then the robot arm 400 takes over the old rotating target 101 and transfers the old rotating target 101 to the transfer starting position to complete the disassembly;

[0100] S5. When installing a new rotating target 101, the background processing terminal 500 sends installation instructions to the robot arm 400 and the three-coordinate mobile platform 300 in turn. The robot arm 400 runs the new rotating target 101 in the opposite direction of the transportation path of the old rotating target 101 in step S4, and transports the new rotating target 101 to the central axis 201 of the disassembly and assembly mechanism 200; then the three-coordinate mobile platform 300 moves to the installation end position, releases the new rotating target 101, and resets to the initial position. At this time, the new rotating target 101 is located at the target position, and the installation of the new rotating target 101 is completed.

[0101] Specifically, as one of the embodiments for establishing an XYZ coordinate system, the center point of the end face where the rotation axis 103 and the central axis 201 are connected is used as the coordinate origin, the horizontal transverse direction away from the rotation axis 103 and toward the central axis 201 is used as the positive direction of the X axis, the right direction toward the rotation axis 103 and along the horizontal longitudinal direction is used as the positive direction of the Y axis, and the vertical upward direction is used as the positive direction of the Z axis.

[0102] Specifically, in step S2, when recording the coordinate value of the installation terminal position of the three-coordinate mobile platform 300, the end of the central axis 201 is manually abutted against the end opposite to the rotating axis 103, and the center line of the central axis 201 is manually observed to coincide with the center line of the rotating axis 103, and the coordinate value of the three-coordinate mobile platform 300 at this time is recorded as the coordinate value of the installation terminal position of the three-coordinate mobile platform 300;

[0103] When recording the coordinate values ​​of the unloading terminal position of the three-coordinate mobile platform 300 and the coordinate values ​​of the transfer terminal position of the robot arm 400, through manual operation, the end of the robot arm 400 is made to face the end of the central axis 201, and each first vacuum suction cup device 207 is respectively abutted against each second vacuum suction cup device 407, and the coordinate value of the three-coordinate mobile platform 300 at this time is recorded as the coordinate value of the unloading terminal position of the three-coordinate mobile platform 300 and the coordinate value of the transfer terminal position of the robot arm 400.

[0104] Specifically, the coordinate value of the transfer starting point position of the robot arm 400 refers to the coordinate value of the starting point position of the new rotating target 101 extracted by the robot arm 400.

[0105] Specifically, in step S3, a binary method is used to collect images through the first camera 209 and the second camera 210 respectively, and a binarization process is performed, and then the contour lines of the central axis 201 and the rotation axis 103 are extracted to obtain a first standard image and a second standard image. In the first standard image and the second standard image, the contour lines of the end faces of the central axis 201 and the rotation axis 103 coincide, and the upper and lower contour lines are located on the same straight line.

[0106] Specifically, in step S3, the third standard image is a real-shot color image.

[0107] Specifically, in step S4, disassembling the old rotating target 101 specifically includes the following steps:

[0108] S4.1, the background processing terminal 500 controls the three-coordinate mobile platform 300 to move to the installation end position according to the coordinate value of the installation end position of the three-coordinate mobile platform 300;

[0109] S4.2, controlling the first camera 209 and the second camera 210 to acquire a first image and a second image respectively;

[0110] S4.3, processing the first image and the second image respectively, and comparing the processed images with the first standard image and the second standard image respectively, and calculating the position deviation values ​​in the Y direction and the Z direction respectively;

[0111] S4.4, when the calculated position deviation values ​​in the Y direction and the Z direction are less than or equal to 2mm, jump to step S4.5; if the calculated position deviation values ​​in the Y direction and the Z direction are greater than 2mm, control the three-coordinate mobile platform 300 to move in the corresponding direction according to the position deviation value to perform position compensation, and repeat steps S4.2 and S4.3;

[0112] S4.5, the background processing terminal 500 sends a disassembly execution instruction to the disassembly mechanism 200, and the disassembly mechanism 200 transfers the old rotating target 101 to the central axis 201;

[0113] S4.6, the background processing terminal 500 controls the three-coordinate mobile platform 300 to move to the unloading terminal position according to the coordinate value of the unloading terminal position of the three-coordinate mobile platform 300, and then the background processing terminal 500 controls the mechanical arm 400 to transfer to the transfer terminal position according to the coordinate value of the transfer terminal position of the mechanical arm 400, and controls the third camera 409 to capture the third image;

[0114] S4.7, performing similarity analysis between the third image and the third standard image;

[0115] S4.8, if the similarity between the third image and the third standard image is greater than or equal to 80%, jump to step S4.9;

[0116] If the similarity between the third image and the third standard image is less than 80%, the real-time image of the third camera 409 is retrieved and manually adjusted;

[0117] S4.9, sending a transfer instruction to the robot arm 400, and the robot arm 400 starts to transfer the old rotating target 101 to the transfer starting position, completing the disassembly of the old rotating target 101.

[0118] Specifically, in step S4.3, the first image and the second image are processed respectively by a binary method, and the processed images are compared with the first standard image and the second standard image respectively, and the position deviation values ​​in the Y direction and the Z direction are calculated respectively, which is achieved in the following way: first, the acquired first image and the second image are binarized, and then the contour lines of the central axis 201 and the rotation axis 103 are extracted respectively, and compared with the first standard image and the second standard image. The difference between the vertices on the same side of the contour line of the central axis 201 and the contour line of the rotation axis 103 is used as the position deviation value in the Y direction or the Z direction. If the central axis 201 deviates toward the positive direction of the Y axis relative to the rotation axis 103, the Y direction deviation value is recorded as a positive value. If the central axis 201 deviates toward the positive direction of the Z axis relative to the rotation axis 103, the Z direction deviation value is recorded as a positive value.

[0119] If the Y direction deviation value is positive, the background processing terminal 500 controls the three-coordinate mobile platform 300 to move toward the negative direction of Y by the absolute value of the deviation value; if the Z direction deviation is positive, the background processing terminal 500 controls the three-coordinate mobile platform 300 to move toward the negative direction of Z by the absolute value of the deviation value.

[0120] Specifically, in step S4.6, the collected third image is a real color image.

[0121] Specifically, in step S4.5, executing the disassembly instruction means starting the vacuum device to absorb the old rotating target 101, and then retracting each first vacuum suction cup device 207 and moving the old rotating target 101 to the central axis 201.

[0122] The target changing system of this embodiment has the following technical effects:

[0123] This embodiment can realize automatic replacement of the target piece through the cooperation between various mechanical systems, reduce the radiation risk of waste targets, and avoid direct contact between the experimenter and the bombarded target piece, thereby improving the safety during the operation. In addition, during the replacement of the target piece, the transport component uses an adsorption connection to transport the target piece, which can solve the technical problem that the target piece replacement system in the prior art is difficult to apply to the replacement of disc-shaped targets or rotating targets. On this basis, an image recognition-assisted alignment method is also used to ensure the mechanical alignment of the alignment parts, so as to ensure the position accuracy during the target piece replacement process and improve the target replacement efficiency.

[0124] In addition, in this embodiment, when disassembling and assembling the target piece, an image acquisition device is used to capture an image of the end of the central axis and an image of the contact between the central axis and the end of the rotating axis and transmit it to the background processing terminal for processing, so as to obtain a conclusion on whether the alignment is achieved. The background processing terminal controls the three-coordinate moving platform to drive the disassembly and assembly mechanism to move in the direction in which the center line of the central axis coincides with the center line of the rotating axis to achieve alignment. The principle of concentric axes is used to realize the "axis-to-axis" disassembly and assembly of the rotating target, and it is moved to the central axis or the rotating axis accordingly. At the structural level, the accuracy of the target piece installation position can be improved, the disassembly and assembly efficiency can be improved, the technical problem of position deviation of the rotating target during installation is solved, and the technical problem of falling of the rotating target during disassembly and assembly is solved.

[0125] Example 2

[0126] Based on Example 1, please refer to Figure 5The three-coordinate mobile platform 300 includes a horizontal transverse moving mechanism 302, a horizontal longitudinal moving mechanism 303 and a vertical moving mechanism 301; the horizontal longitudinal moving mechanism 303 is installed on the horizontal transverse moving mechanism 302, and the horizontal transverse moving mechanism 302 can drive the horizontal longitudinal moving mechanism 303 to move horizontally; the vertical moving mechanism 301 is installed on the horizontal longitudinal moving mechanism 303, and the horizontal longitudinal moving mechanism 303 can drive the vertical moving mechanism 301 to move horizontally and longitudinally; the disassembly and assembly mechanism 200 is installed on the vertical moving mechanism 301, and the vertical moving mechanism 301 can drive the disassembly and assembly mechanism 200 to move vertically;

[0127] The background processing terminal 500 can control the horizontal lateral moving mechanism 302, the horizontal longitudinal moving mechanism 303 and the vertical moving mechanism 301 to move respectively according to the relative position deviation value when the end of the central axis 201 abuts against the end opposite to the rotating axis 103, so as to align the end of the central axis 201 with the end opposite to the rotating axis 103.

[0128] The horizontal lateral moving mechanism 302 is provided with a first screw rod 205, one end of which is fixedly connected to the rotation output end of the first motor 304, and the bottom of the horizontal longitudinal moving mechanism 303 is provided with a first slide groove, and the inner wall of the first slide groove is provided with an internal thread matched with the first screw rod 205;

[0129] The horizontal longitudinal moving mechanism 303 is provided with a second screw rod 205, one end of which is fixedly connected to the rotation output end of the second motor 305, and the bottom of the vertical moving mechanism 301 is provided with a second slide groove, and the inner wall of the second slide groove is provided with an internal thread matched with the second screw rod 205;

[0130] The vertical moving mechanism 301 is provided with a third screw rod 205, one end of which is fixedly connected to the rotation output end of the third motor 306, and the disassembly and assembly mechanism 200 is provided with a third slide groove on one side facing the vertical moving mechanism 301, and the inner wall of the third slide groove is provided with an internal thread matched with the third screw rod 205;

[0131] The first motor 304, the second motor 305 and the third motor 306 are respectively provided with a first control module, a second control module and a third control module; the first control module, the second control module and the third control module are used to respectively receive instructions sent by the background processing terminal 500, and respectively control the first motor 304, the second motor 305 and the third motor 306 to rotate forward or reverse;

[0132] Specifically, the first control module, the second control module, and the third control module are used to respectively receive the installation instruction and the disassembly instruction sent by the background processing terminal 500, wherein the installation instruction means that the background processing terminal 500 sends the forward rotation instruction and the running time to the first motor 304, the second motor 305, and the third motor 306 respectively, so as to drive the three-coordinate mobile platform 300 to transport the disassembly mechanism 200 to the installation terminal position; the disassembly instruction means that the background processing terminal 500 sends the forward rotation instruction and the running time to the first motor 304, the second motor 305, and the third motor 306 respectively, so as to drive the three-coordinate mobile platform 300 to transport the disassembly mechanism 200 to the installation terminal position;

[0133] See also Figure 2 and Figure 3 The disassembly and assembly mechanism 200 is installed on the vertical moving mechanism 301 through the installation bracket 202, and the first bracket disc 203 and the second bracket disc 204 are fixed on the installation bracket 202. Each of the first vacuum suction cup devices 207 is installed on the first bracket disc 203. A plurality of screw rods 205 are fixed between the first bracket disc 203 and the second bracket disc 204 corresponding to each of the first vacuum suction cup devices 207. One end of each of the first vacuum suction cup devices 207 extending out of the first bracket disc 203 is respectively provided with a screw rod 205 slider, and each screw rod 205 slider is respectively threadedly connected with the corresponding screw rod 205. One end of each screw rod 205 extending out of the second bracket disc 204 is fixed with a screw rod 205 motor, and each screw rod 205 motor can rotate forward or reverse at the same time, and can drive each screw rod 205 slider to move on the corresponding screw rod 205;

[0134] Correspondingly, the disassembly and assembly mechanism 200 is further provided with a fifth control module for receiving instructions sent by the background processing terminal 500 and controlling the motors of each screw rod 205 to rotate forward or reverse simultaneously.

[0135] During forward rotation, the screw rod 205 slider can move along the corresponding screw rod 205 in the direction away from the screw rod 205 motor, so that the first vacuum suction cup device 207 is extended. During reverse rotation, the screw rod 205 slider can move along the corresponding screw rod 205 in the direction close to the screw rod 205 motor, so that the first vacuum suction cup device 207 is retracted.

[0136] See also Figure 1 and Figure 4The robot arm 400 further includes a slide rail 401, a turntable 402 is slidably connected to the slide rail 401, the turntable 402 is rotatable, one end of a large arm 403 is mounted on the turntable 402, the other end of the large arm 403 is rotatably connected to one end of a small arm 404, the other end of the small arm 404 is mounted with a suction cup fixing frame 406 via a rotary joint 405, and each of the second vacuum suction cup devices 407 is mounted on the suction cup fixing frame 406;

[0137] Correspondingly, the robotic arm 400 is also provided with a sixth control module for receiving instructions sent by the background processing terminal 500 and controlling the rotation of the turntable 402 , the upper arm 403 and the lower arm 404 .

[0138] The target changing system of this embodiment has the following technical effects:

[0139] This embodiment further refines the technical solution of embodiment 1. Through the coordinated cooperation of various modules, the target piece can be automatically replaced, reducing the radiation risk of waste targets. At the same time, it can avoid direct contact between the experimenter and the bombarded target piece, and improve the safety during the operation. In addition, during the replacement of the target piece, the transport component uses an adsorption connection to transport the target piece, which can solve the technical problem that the target piece replacement system in the prior art is difficult to apply to the replacement of disc-shaped target pieces or rotating target pieces. On this basis, an image recognition auxiliary alignment method is also used to ensure the mechanical alignment of the alignment parts to ensure the position accuracy during the target piece replacement process and improve the target replacement efficiency. At the same time, the possibility of errors and failures caused by human factors is reduced, and the reliability and stability of the entire system are improved. The target replacement operation can be completed without changing the original structure of the rotating target equipment, and the target replacement system only replaces the target piece. Compared with replacing the entire target body component, the system has higher economic benefits.

[0140] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. The embodiments described in the present invention are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all other embodiments obtained by ordinary technicians in the art without creative work based on the embodiments in the present invention belong to the scope of protection of the present invention.

Claims

1. A target replacement system for replacing a target piece of a neutron target, characterized in that: It includes a three-coordinate mobile platform, a robotic arm, an image acquisition device and a background processing terminal; The three-coordinate mobile platform is equipped with a disassembly and assembly mechanism, and the three-coordinate mobile platform is used to drive the disassembly and assembly mechanism to move; The disassembly and assembly mechanism is also provided with a transfer component, and the transfer component can be adsorbed and connected with the target sheet. The disassembly and assembly mechanism is provided with an alignment member, and the alignment member is used to align with the target position on the target sheet when disassembling and assembling the target sheet; The disassembly and assembly mechanism is also provided with an image acquisition device, which is used to acquire the image of the alignment part and transmit it to the background processing terminal; The background processing terminal is used to process the alignment member image acquired by the image acquisition device to obtain the relative position deviation value between the alignment member and the target position on the target sheet, thereby controlling the movement of the three-coordinate mobile platform and the assembly and disassembly movement of the assembly and disassembly mechanism; The mechanical arm is arranged beside the three-coordinate moving platform, and is used to provide a new target piece for the disassembly and assembly mechanism or to transfer the old target piece disassembled by the disassembly and assembly mechanism to the transport terminal position.

2. The target changing system according to claim 1, characterized in that: The disassembly and assembly mechanism is used for disassembly and assembly of the rotating target, and the rotating target is used for installation on the rotating shaft; The alignment member is a central axis, and the central axis is arranged corresponding to the rotation axis. The central axis has the same cross-sectional diameter as the rotation axis. When the rotating target is disassembled, the end of the central axis can abut against the end opposite to the rotation axis, and the center line of the central axis coincides with the center line of the rotation axis. The disassembly and assembly mechanism is further provided with a transfer assembly, which can be adsorbed and connected to the target piece, and when the end of the central axis abuts against the end opposite to the rotating axis, the transfer assembly can drive the rotating target piece and the pressure cover to move on the central axis and the rotating axis; The image acquisition device is installed on the transfer component at a position close to the end of the central axis. When the end of the central axis abuts against the end opposite to the rotating axis, the image acquisition device can capture the image of the abutment between the central axis and the end of the rotating axis and transmit it to the background processing terminal, which determines whether the central axis is aligned with the rotating axis.

3. The target changing system according to claim 2, characterized in that: The image acquisition device comprises a first camera and a second camera, and the image acquisition ends of the first camera and the second camera are respectively perpendicular to the end positions of the central axis; The first camera and the second camera are arranged on the same plane, and the center lines of the shooting angles of view of the first camera and the second camera are perpendicular to each other on the same plane; The first camera or the second camera can capture a vertical image or a horizontal longitudinal image when the end of the central axis abuts against the end opposite to the rotation axis, and transmit it to a background processing terminal for processing to obtain a relative position deviation value.

4. The target changing system according to claim 3, characterized in that: The transfer assembly includes a plurality of evenly distributed first vacuum suction cup devices, each of which can be extended and retracted in a direction parallel to the extension direction of the central axis; the first vacuum suction cup device includes a first flexible suction cup, and the first flexible suction cup is used to be adsorbed on one side surface of the rotating target; each of the first flexible suction cups is respectively connected to one end of a first vacuum tube, and the other end of each of the first vacuum tubes is respectively connected to a first vacuum pumping device; Correspondingly, the disassembly and assembly mechanism is further provided with a third control module for receiving instructions sent by the background processing terminal and controlling the start and stop of each of the first vacuum pumping devices; A plurality of second vacuum suction cup devices are provided at the end of the robot arm, and the second vacuum suction cup devices include second flexible suction cups, and the second flexible suction cups are used to be adsorbed on the other side surface of the rotating target; each of the second flexible suction cups is respectively connected to one end of a second vacuum tube, and the other end of each of the second vacuum tubes is respectively connected to a second vacuum pumping device; Correspondingly, a fourth control module is also provided at the end of the mechanical arm, which is used to receive instructions sent by the background processing terminal and control the start and stop of each of the second vacuum pumping devices; A third camera is also provided at the center of the end surface of the robotic arm, and the third camera is used to collect the end surface image of the central axis and transmit it to the background processing terminal to identify the center point position of the central axis.

5. The target changing system according to claim 1, characterized in that: The three-coordinate mobile platform includes a horizontal transverse moving mechanism, a horizontal longitudinal moving mechanism and a vertical moving mechanism; the horizontal longitudinal moving mechanism is installed on the horizontal transverse moving mechanism, and the horizontal transverse moving mechanism can drive the horizontal longitudinal moving mechanism to move horizontally; the vertical moving mechanism is installed on the horizontal longitudinal moving mechanism, and the horizontal longitudinal moving mechanism can drive the vertical moving mechanism to move horizontally and longitudinally; the disassembly and assembly mechanism is installed on the vertical moving mechanism, and the vertical moving mechanism can drive the disassembly and assembly mechanism to move vertically; The background processing terminal can control the horizontal lateral movement mechanism, the horizontal longitudinal movement mechanism and the vertical movement mechanism to move respectively according to the relative position deviation value when the end of the central axis abuts against the end opposite to the rotating axis, so as to align the end of the central axis with the end opposite to the rotating axis.

6. The target changing system according to claim 5, characterized in that: The horizontal lateral moving mechanism is provided with a first screw rod, one end of which is fixedly connected to the rotation output end of the first motor, and the bottom of the horizontal longitudinal moving mechanism is provided with a first slide groove, and the inner wall of the first slide groove is provided with an internal thread matched with the first screw rod; The horizontal longitudinal moving mechanism is provided with a second screw rod, one end of which is fixedly connected to the rotation output end of the second motor, and the bottom of the vertical moving mechanism is provided with a second slide groove, and the inner wall of the second slide groove is provided with an internal thread matched with the second screw rod; The vertical moving mechanism is provided with a third screw rod, one end of which is fixedly connected to the rotation output end of the third motor, and the disassembly and assembly mechanism is provided with a third slide groove on one side facing the vertical moving mechanism, and the inner wall of the third slide groove is provided with an internal thread matched with the third screw rod; The first motor, the second motor and the third motor are respectively provided with a first control module, a second control module and a third control module; the first control module, the second control module and the third control module are used to respectively receive instructions sent by the background processing terminal, and respectively control the first motor, the second motor and the third motor to rotate forward or reverse.

7. The target changing system according to claim 4, characterized in that: The disassembly and assembly mechanism is installed on the vertical moving mechanism through a mounting bracket, a first bracket disc and a second bracket disc are fixed on the mounting bracket, each of the first vacuum suction cup devices is installed on the first bracket disc, a plurality of screw rods are fixed between the first bracket disc and the second bracket disc corresponding to each of the first vacuum suction cup devices, a screw rod slider is provided at one end of each of the first vacuum suction cup devices extending out of the first bracket disc, each of the screw rod sliders is respectively threadedly connected with a corresponding screw rod, a screw rod motor is fixed at one end of each of the screw rods extending out of the second bracket disc, each of the screw rod motors can rotate forward or reverse at the same time, and can drive each of the screw rod sliders to move on the corresponding screw rod; Correspondingly, the disassembly and assembly mechanism is further provided with a fifth control module for receiving instructions sent by the background processing terminal and controlling each lead screw motor to rotate forward or reverse simultaneously.

8. The target changing system according to claim 4, characterized in that: The mechanical arm also includes a slide rail, a turntable is slidably connected to the slide rail, the turntable is rotatable, one end of the upper arm is mounted on the turntable, the other end of the upper arm is rotatably connected to one end of the lower arm, the other end of the lower arm is mounted with a suction cup fixing frame via a rotating joint, and each of the second vacuum suction cup devices is mounted on the suction cup fixing frame; Correspondingly, the robotic arm is also provided with a sixth control module for receiving instructions sent by the background processing terminal and controlling the rotation of the turntable, the upper arm and the lower arm.

9. A method for controlling a target changing system, used for controlling the target changing system as claimed in claim 4 to change a target piece, characterized in that: The following steps are involved: S1. Establish an XYZ coordinate system, set the initial positions of the three-coordinate mobile platform and the robotic arm, and record the coordinate values ​​of the corresponding initial positions; S2, manually operate the mobile three-coordinate mobile platform, and record the coordinate values ​​of the installation end position and the unloading end position of the three-coordinate mobile platform in the background processing terminal; manually operate the mobile mechanical arm, and record the coordinate values ​​of the transfer starting position and the transfer end position of the mechanical arm in the background processing terminal; S3, respectively acquiring a first standard image, a second standard image, and a third standard image corresponding to the first camera, the second camera, and the third camera, and transmitting and storing them in a background processing terminal; S4. When disassembling the old rotating target, the background processing terminal sends disassembly instructions to the three-coordinate mobile platform and the robotic arm in sequence. The three-coordinate mobile platform drives the disassembly mechanism to move and move the old rotating target into the disassembly mechanism. Then the robotic arm takes over the old rotating target and transfers the old rotating target to the transfer starting position to complete the disassembly. S5. When installing a new rotating target, the background processing terminal sends installation instructions to the robot arm and the three-coordinate mobile platform in turn. The robot arm moves the new rotating target in the opposite direction of the transportation path of the old rotating target in step S4, and transports the new rotating target to the central axis of the disassembly and assembly mechanism; then the three-coordinate mobile platform moves to the installation end position, releases the new rotating target, and resets to the initial position. At this time, the new rotating target is located at the target position, and the installation of the new rotating target is completed.

10. The control method of the target changing system according to claim 9, characterized in that: In step S4, disassembling the old rotating target specifically includes the following steps: S4.

1. The background processing terminal controls the three-coordinate mobile platform to move to the installation end position according to the coordinate value of the installation end position of the three-coordinate mobile platform; S4.2, controlling the first camera and the second camera to acquire a first image and a second image respectively; S4.3, processing the first image and the second image respectively, and comparing the processed images with the first standard image and the second standard image respectively, and calculating the position deviation values ​​in the Y direction and the Z direction respectively; S4.4, when the calculated position deviation values ​​in the Y direction and the Z direction are less than or equal to 2mm, jump to step S4.5; if the calculated position deviation values ​​in the Y direction and the Z direction are greater than 2mm, control the three-coordinate mobile platform to move in the corresponding direction according to the position deviation value to perform position compensation, and repeat steps S4.2 and S4.3; S4.5, the background processing terminal sends a disassembly execution instruction to the disassembly mechanism, and the disassembly mechanism transfers the old rotating target to the central axis; S4.6, the background processing terminal controls the three-coordinate mobile platform to move to the unloading terminal position according to the coordinate value of the unloading terminal position of the three-coordinate mobile platform, and then the background processing terminal controls the mechanical arm to transfer to the transfer terminal position according to the coordinate value of the transfer terminal position of the mechanical arm, and controls the third camera to capture the third image; S4.7, performing similarity analysis between the third image and the third standard image; S4.8, if the similarity between the third image and the third standard image is greater than or equal to 80%, jump to step S4.9; If the similarity between the third image and the third standard image is less than 80%, the real-time image of the third camera is retrieved and manually adjusted; S4.

9. Send a transfer instruction to the robotic arm, and the robotic arm starts to transfer the old rotating target to the transfer starting point, completing the disassembly of the old rotating target.

Images